Regenerating PPM signal based on distances from ultrasonic sensors, ESP8266 for connectin via wifi. Autonomous quadcopter behaviour, autonomou height holding. Flying direction based on front and back ultrasonic sensors.
Dependencies: ConfigFile HCSR04 PID PPM2 mbed-rtos mbed
definitions.h@2:d172c9963f87, 2017-10-26 (annotated)
- Committer:
- edy05
- Date:
- Thu Oct 26 15:54:47 2017 +0000
- Revision:
- 2:d172c9963f87
- Child:
- 30:4d1b3926a3cc
- Child:
- 31:5f1737e480f3
stable release with distanceRegulation thread
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
edy05 | 2:d172c9963f87 | 1 | /* |
edy05 | 2:d172c9963f87 | 2 | NVIC_SetPriority(TIMER0_IRQn, 0); |
edy05 | 2:d172c9963f87 | 3 | NVIC_SetPriority(TIMER1_IRQn, 1); |
edy05 | 2:d172c9963f87 | 4 | NVIC_SetPriority(TIMER2_IRQn, 2); |
edy05 | 2:d172c9963f87 | 5 | NVIC_SetPriority(TIMER3_IRQn, 3); |
edy05 | 2:d172c9963f87 | 6 | */ |
edy05 | 2:d172c9963f87 | 7 | |
edy05 | 2:d172c9963f87 | 8 | #define PIEZZO_START 0.1 |
edy05 | 2:d172c9963f87 | 9 | #define PIEZZO_STOP 0.0 |
edy05 | 2:d172c9963f87 | 10 | #define CHANNELS 8 |
edy05 | 2:d172c9963f87 | 11 | |
edy05 | 2:d172c9963f87 | 12 | #define ROLL 0 |
edy05 | 2:d172c9963f87 | 13 | #define PITCH 1 |
edy05 | 2:d172c9963f87 | 14 | #define THROTTLE 2 |
edy05 | 2:d172c9963f87 | 15 | #define YAW 3 |
edy05 | 2:d172c9963f87 | 16 | #define AUX1 4 |
edy05 | 2:d172c9963f87 | 17 | #define AUX2 5 |
edy05 | 2:d172c9963f87 | 18 | |
edy05 | 2:d172c9963f87 | 19 | /* |
edy05 | 2:d172c9963f87 | 20 | pc.printf("ROLL %d\n\r", channels[ROLL]); |
edy05 | 2:d172c9963f87 | 21 | pc.printf("PITCH %d\n\r", channels[PITCH]); |
edy05 | 2:d172c9963f87 | 22 | pc.printf("YAW %d\n\r", channels[YAW]); |
edy05 | 2:d172c9963f87 | 23 | pc.printf("THROTTLE %d\n\r", channels[THROTTLE]); |
edy05 | 2:d172c9963f87 | 24 | pc.printf("AUX1 %d\n\r", channels[AUX1]); |
edy05 | 2:d172c9963f87 | 25 | pc.printf("AUX2 %d\n\r", channels[AUX2]); |
edy05 | 2:d172c9963f87 | 26 | |
edy05 | 2:d172c9963f87 | 27 | */ |